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<div class="title">comm_can.h</div>  </div>
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<a href="../../d9/d2a/comm__can_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">    Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">    This program is free software: you can redistribute it and/or modify</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">    it under the terms of the GNU General Public License as published by</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">    the Free Software Foundation, either version 3 of the License, or</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">    (at your option) any later version.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">    This program is distributed in the hope that it will be useful,</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">    but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">    GNU General Public License for more details.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">    You should have received a copy of the GNU General Public License</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">    along with this program.  If not, see &lt;http://www.gnu.org/licenses/&gt;.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">    */</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> * comm_can.h</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *  Created on: 7 dec 2014</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *      Author: benjamin</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#ifndef COMM_CAN_H_</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#define COMM_CAN_H_</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../df/df4/conf__general_8h.html">conf_general.h</a>&quot;</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">// Settings</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="../../d9/d2a/comm__can_8h.html#ada66a3c7dd1c06dc22281901ffaae875">   31</a></span>&#160;<span class="preprocessor">#define CAN_STATUS_MSG_INT_MS       1</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="../../d9/d2a/comm__can_8h.html#a24af6fd74669018fe67d375b4c01906b">   32</a></span>&#160;<span class="preprocessor">#define CAN_STATUS_MSGS_TO_STORE    10</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment">// Functions</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d9/d2a/comm__can_8h.html#a302ba7cbfee5982fc40432898ed7413e">comm_can_init</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d9/d2a/comm__can_8h.html#a7c87045186a1caa3f5bfdd575662ae34">comm_can_transmit</a>(uint32_t <span class="keywordtype">id</span>, uint8_t *data, uint8_t len);</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d9/d2a/comm__can_8h.html#a455666cd97a43c5cc47faae48ede921a">comm_can_send_buffer</a>(uint8_t controller_id, uint8_t *data, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> len, <span class="keywordtype">bool</span> send);</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d9/d2a/comm__can_8h.html#a3f891e2d3bf32446f30cf408608be422">comm_can_set_duty</a>(uint8_t controller_id, <span class="keywordtype">float</span> duty);</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d9/d2a/comm__can_8h.html#a51aea08052617feacfa5144face7f705">comm_can_set_current</a>(uint8_t controller_id, <span class="keywordtype">float</span> current);</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d9/d2a/comm__can_8h.html#aabb9e177ea86329e2be041be574216a2">comm_can_set_current_brake</a>(uint8_t controller_id, <span class="keywordtype">float</span> current);</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d9/d2a/comm__can_8h.html#a85f12e68cccc19841a5b16472c39562f">comm_can_set_rpm</a>(uint8_t controller_id, <span class="keywordtype">float</span> rpm);</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d9/d2a/comm__can_8h.html#a864403d24c94cc7cfc0f389c24ab616c">comm_can_set_pos</a>(uint8_t controller_id, <span class="keywordtype">float</span> pos);</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<a class="code" href="../../db/dbf/structcan__status__msg.html">can_status_msg</a> *<a class="code" href="../../d9/d2a/comm__can_8h.html#a666e73b6080965cadc4028050a7742c6">comm_can_get_status_msg_index</a>(<span class="keywordtype">int</span> index);</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<a class="code" href="../../db/dbf/structcan__status__msg.html">can_status_msg</a> *<a class="code" href="../../d9/d2a/comm__can_8h.html#a1214fd3165e8db4a0a1a6cd8c12e0dea">comm_can_get_status_msg_id</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>);</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* COMM_CAN_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="comm__can_8h_html_a1214fd3165e8db4a0a1a6cd8c12e0dea"><div class="ttname"><a href="../../d9/d2a/comm__can_8h.html#a1214fd3165e8db4a0a1a6cd8c12e0dea">comm_can_get_status_msg_id</a></div><div class="ttdeci">can_status_msg * comm_can_get_status_msg_id(int id)</div><div class="ttdef"><b>Definition:</b> comm_can.c:464</div></div>
<div class="ttc" id="comm__can_8h_html_a666e73b6080965cadc4028050a7742c6"><div class="ttname"><a href="../../d9/d2a/comm__can_8h.html#a666e73b6080965cadc4028050a7742c6">comm_can_get_status_msg_index</a></div><div class="ttdeci">can_status_msg * comm_can_get_status_msg_index(int index)</div><div class="ttdef"><b>Definition:</b> comm_can.c:447</div></div>
<div class="ttc" id="structcan__status__msg_html"><div class="ttname"><a href="../../db/dbf/structcan__status__msg.html">can_status_msg</a></div><div class="ttdef"><b>Definition:</b> datatypes.h:356</div></div>
<div class="ttc" id="comm__can_8h_html_a51aea08052617feacfa5144face7f705"><div class="ttname"><a href="../../d9/d2a/comm__can_8h.html#a51aea08052617feacfa5144face7f705">comm_can_set_current</a></div><div class="ttdeci">void comm_can_set_current(uint8_t controller_id, float current)</div><div class="ttdef"><b>Definition:</b> comm_can.c:410</div></div>
<div class="ttc" id="comm__can_8h_html_a455666cd97a43c5cc47faae48ede921a"><div class="ttname"><a href="../../d9/d2a/comm__can_8h.html#a455666cd97a43c5cc47faae48ede921a">comm_can_send_buffer</a></div><div class="ttdeci">void comm_can_send_buffer(uint8_t controller_id, uint8_t *data, unsigned int len, bool send)</div><div class="ttdef"><b>Definition:</b> comm_can.c:343</div></div>
<div class="ttc" id="comm__can_8h_html_a302ba7cbfee5982fc40432898ed7413e"><div class="ttname"><a href="../../d9/d2a/comm__can_8h.html#a302ba7cbfee5982fc40432898ed7413e">comm_can_init</a></div><div class="ttdeci">void comm_can_init(void)</div><div class="ttdef"><b>Definition:</b> comm_can.c:75</div></div>
<div class="ttc" id="comm__can_8h_html_a864403d24c94cc7cfc0f389c24ab616c"><div class="ttname"><a href="../../d9/d2a/comm__can_8h.html#a864403d24c94cc7cfc0f389c24ab616c">comm_can_set_pos</a></div><div class="ttdeci">void comm_can_set_pos(uint8_t controller_id, float pos)</div><div class="ttdef"><b>Definition:</b> comm_can.c:431</div></div>
<div class="ttc" id="comm__can_8h_html_a85f12e68cccc19841a5b16472c39562f"><div class="ttname"><a href="../../d9/d2a/comm__can_8h.html#a85f12e68cccc19841a5b16472c39562f">comm_can_set_rpm</a></div><div class="ttdeci">void comm_can_set_rpm(uint8_t controller_id, float rpm)</div><div class="ttdef"><b>Definition:</b> comm_can.c:424</div></div>
<div class="ttc" id="conf__general_8h_html"><div class="ttname"><a href="../../df/df4/conf__general_8h.html">conf_general.h</a></div></div>
<div class="ttc" id="comm__can_8h_html_a7c87045186a1caa3f5bfdd575662ae34"><div class="ttname"><a href="../../d9/d2a/comm__can_8h.html#a7c87045186a1caa3f5bfdd575662ae34">comm_can_transmit</a></div><div class="ttdeci">void comm_can_transmit(uint32_t id, uint8_t *data, uint8_t len)</div><div class="ttdef"><b>Definition:</b> comm_can.c:305</div></div>
<div class="ttc" id="comm__can_8h_html_aabb9e177ea86329e2be041be574216a2"><div class="ttname"><a href="../../d9/d2a/comm__can_8h.html#aabb9e177ea86329e2be041be574216a2">comm_can_set_current_brake</a></div><div class="ttdeci">void comm_can_set_current_brake(uint8_t controller_id, float current)</div><div class="ttdef"><b>Definition:</b> comm_can.c:417</div></div>
<div class="ttc" id="comm__can_8h_html_a3f891e2d3bf32446f30cf408608be422"><div class="ttname"><a href="../../d9/d2a/comm__can_8h.html#a3f891e2d3bf32446f30cf408608be422">comm_can_set_duty</a></div><div class="ttdeci">void comm_can_set_duty(uint8_t controller_id, float duty)</div><div class="ttdef"><b>Definition:</b> comm_can.c:403</div></div>
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